Refs #21295: Refactor of Participant Discovery Structes

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

code/DDSCodeTester.cpp

@@ -5,6 +5,7 @@
 
 #include <fastcdr/Cdr.h>
 
+#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
 #include <fastdds/dds/core/condition/GuardCondition.hpp>
 #include <fastdds/dds/core/condition/WaitSet.hpp>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
@@ -169,11 +170,12 @@ class CustomDomainParticipantListener : public DomainParticipantListener
 
  void on_participant_discovery(
  DomainParticipant* participant,
- eprosima::fastdds::rtps::ParticipantDiscoveryInfo&& info,
+ eprosima::fastdds::rtps::ParticipantDiscoveryStatus status,
+ const ParticipantBuiltinTopicData& info,
  bool& should_be_ignored) override
  {
  should_be_ignored = false;
- if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
+ if (status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
  {
  std::cout << "New participant discovered" << std::endl;
  // The following line can be modified to evaluate whether the discovered participant should be ignored
@@ -184,8 +186,8 @@ class CustomDomainParticipantListener : public DomainParticipantListener
  should_be_ignored = true; // Request the ignoring of the discovered participant
  }
  }
- else if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT ||
- info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT)
+ else if (status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT ||
+ status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT)
  {
  std::cout << "Participant lost" << std::endl;
  }
@@ -960,18 +962,19 @@ class DiscoveryDomainParticipantListener : public DomainParticipantListener
  /* Custom Callback on_participant_discovery */
  void on_participant_discovery(
  DomainParticipant* participant,
- eprosima::fastdds::rtps::ParticipantDiscoveryInfo&& info,
+ eprosima::fastdds::rtps::ParticipantDiscoveryStatus status,
+ const ParticipantBuiltinTopicData& info,
  bool& should_be_ignored) override
  {
  should_be_ignored = false;
  static_cast<void>(participant);
- switch (info.status){
- case eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
+ switch (status){
+ case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT:
  {
  /* Process the case when a new DomainParticipant was found in the domain */
- std::cout << "New DomainParticipant '" << info.info.m_participantName <<
- "' with ID '" << info.info.m_guid.entityId << "' and GuidPrefix '" <<
- info.info.m_guid.guidPrefix << "' discovered." << std::endl;
+ std::cout << "New DomainParticipant '" << info.participant_name <<
+ "' with ID '" << info.guid.entityId << "' and GuidPrefix '" <<
+ info.guid.guidPrefix << "' discovered." << std::endl;
  /* The following line can be substituted to evaluate whether the discovered participant should be ignored */
  bool ignoring_condition = false;
  if (ignoring_condition)
@@ -980,14 +983,14 @@ class DiscoveryDomainParticipantListener : public DomainParticipantListener
  }
  }
  break;
- case eprosima::fastdds::rtps::ParticipantDiscoveryInfo::CHANGED_QOS_PARTICIPANT:
+ case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::CHANGED_QOS_PARTICIPANT:
  /* Process the case when a DomainParticipant changed its QOS */
  break;
- case eprosima::fastdds::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
+ case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
  /* Process the case when a DomainParticipant was removed from the domain */
- std::cout << "DomainParticipant '" << info.info.m_participantName <<
- "' with ID '" << info.info.m_guid.entityId << "' and GuidPrefix '" <<
- info.info.m_guid.guidPrefix << "' left the domain." << std::endl;
+ std::cout << "DomainParticipant '" << info.participant_name <<
+ "' with ID '" << info.guid.entityId << "' and GuidPrefix '" <<
+ info.guid.guidPrefix << "' left the domain." << std::endl;
  break;
  }
  }

docs/fastdds/api_reference/rtps/builtin/data/ParticipantBuiltinTopicData.rst

@@ -0,0 +1,10 @@
+.. _api_rtps_builtin_data_participantbuiltintopicdata:
+
+.. rst-class:: api-ref
+
+ParticipantBuiltinTopicData
+---------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::ParticipantBuiltinTopicData
+ :project: FastDDS
+ :members:

docs/fastdds/api_reference/rtps/builtin/data/data.rst

@@ -7,5 +7,6 @@ Builtin data
  :titlesonly:
 
  /fastdds/api_reference/rtps/builtin/data/ContentFilterProperty
+ /fastdds/api_reference/rtps/builtin/data/ParticipantBuiltinTopicData
  /fastdds/api_reference/rtps/builtin/data/PublicationBuiltinTopicData
  /fastdds/api_reference/rtps/builtin/data/SubscriptionBuiltinTopicData

docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantDiscoveryStatus.rst

@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+ParticipantDiscoveryStatus
+----------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::ParticipantDiscoveryStatus
+ :project: FastDDS

docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/participantdiscoveryinfo.rst

@@ -7,7 +7,6 @@ ParticipantDiscoveryInfo
  :titlesonly:
 
  /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantAuthenticationInfo
- /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantDiscoveryInfo_class
- /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantProxyData
+ /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantDiscoveryStatus
  /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ReaderDiscoveryStatus
  /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/WriterDiscoveryStatus